APPENDICES
Appendix 3 Comparison of QnPHCPU and QnPRHCPU
App - 12
9
PROCESSING TIME
FOR REDUNDANT
SYSTEMS
APPENDICESINDEX
Table App.7 Instructions Inapplicable for QnPRHCPU
Instruction
Symbol
Instruction Name
Instruction
Symbol
Instruction Name
PLOADP Program Load from Memory Card PLSY Pulse Output
PUNLOADP Program Unload from Memory Card PWM Pulse Width Modulation
PSWAP Load + Unload MTR Matrix Input
PR Print ASCII code S.TO Write To Host Station CPU Shared Memory
PRC Print Comments D(P).SFCF Request of Motion SFC Program Startup
KEY Numerical Key Input D(P).SVST Request of Servo Program Startup
UDCNT1 1-phase Input Up/Down Counter D(P).CHGV
Axis Speed Change during Positioning and JOG
operation
UDCNT2 2-phase Input Up/Down Counter D(P).CHGT
Torque Control Value Change during Operation and
Suspension in Real Mode
TTMR Teaching Timer D(P).CHGA
Current value Change of Halted Axis/Synchronized
Encoder/Cam axis
STMR Special Timer D(P).DDWR
Write Host CPU Device Data into Other CPU
devices
ROTC Rotary Table Near Path Rotation Control D(P).DDRD Read Other CPU Device Data into Host CPU.
RAMP Ramp Signal
D(P).GINT Request of Other CPU Interrupt Program Startup.
SPD Pulse Density Measurement
Table App.8 Instructions Restricted for PRHCPU
Instruction
Symbol
Instruction Name Remark
COM Selection Refresh
For restrictions on COM and ZCOM, refer to Section 7.1 (7).
ZCOM Refresh of Specified Module
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